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<div class="header">
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<div class="title">integration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/common_types.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">class </span>KdTree;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">// Integration</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">namespace </span>ihs</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html">   71</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1ihs_1_1_integration.html">Integration</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">PointXYZRGBNormal</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBNormal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBNormal</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::Mesh            <a class="code" href="class_mesh.html">Mesh</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshPtr         MeshPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshConstPtr    MeshConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> Mesh::VertexIndex         VertexIndex;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> Mesh::VertexIndices       VertexIndices;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a439391e4bb77a5c928c821d1c7e2ff01">   87</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a439391e4bb77a5c928c821d1c7e2ff01">Integration</a> ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a5f4f4d1de97835965eb7324f434c1918">   95</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a5f4f4d1de97835965eb7324f434c1918">reconstructMesh</a> (<span class="keyword">const</span> CloudXYZRGBNormalConstPtr&amp; cloud_data,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                         MeshPtr&amp;                         mesh_model) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a03e1bde7dade017346b65819f2f0d655">  105</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a03e1bde7dade017346b65819f2f0d655">merge</a> (<span class="keyword">const</span> CloudXYZRGBNormalConstPtr&amp; cloud_data,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;               MeshPtr&amp;                         mesh_model,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;               <span class="keyword">const</span> Eigen::Matrix4f&amp;           T) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">  114</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">age</a> (<span class="keyword">const</span> MeshPtr&amp; mesh, <span class="keyword">const</span> <span class="keywordtype">bool</span> cleanup=<span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a920980a6b0f773bccbccb1b57bec7128">  121</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a920980a6b0f773bccbccb1b57bec7128">removeUnfitVertices</a> (<span class="keyword">const</span> MeshPtr&amp; mesh, <span class="keyword">const</span> <span class="keywordtype">bool</span> cleanup=<span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#acd8029214ba3ee4408335d0add1e522a">  127</a></span>&#160;        <span class="keywordtype">void</span>  <a class="code" href="classpcl_1_1ihs_1_1_integration.html#acd8029214ba3ee4408335d0add1e522a">setMaxSquaredDistance</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> squared_distance);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">float</span> getMaxSquaredDistance () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#ac6a09955b826cff1529bcfdfa6476c4d">  135</a></span>&#160;        <span class="keywordtype">void</span>  <a class="code" href="classpcl_1_1ihs_1_1_integration.html#ac6a09955b826cff1529bcfdfa6476c4d">setMaxAngle</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> angle);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">float</span> getMaxAngle () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a111b3699e32996990dd7432bad8114f4">  143</a></span>&#160;        <span class="keywordtype">void</span>         <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a111b3699e32996990dd7432bad8114f4">setMaxAge</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> age);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getMaxAge () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a3e40f576819e8e7e5acce7d7f79bc4f4">  151</a></span>&#160;        <span class="keywordtype">void</span>         <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a3e40f576819e8e7e5acce7d7f79bc4f4">setMinDirections</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> directions);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getMinDirections () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>              <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZ&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZ</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keyword">typedef</span> CloudXYZ::Ptr              CloudXYZPtr;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keyword">typedef</span> CloudXYZ::ConstPtr         CloudXYZConstPtr;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">pcl::ihs::PointIHS</a>         <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::ihs::CloudIHS</a>         <a class="code" href="classpcl_1_1_point_cloud.html">CloudIHS</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::CloudIHSPtr      CloudIHSPtr;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::CloudIHSConstPtr CloudIHSConstPtr;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_kd_tree.html">pcl::KdTree &lt;PointXYZ&gt;</a>           <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;KdTree&gt;       KdTreePtr;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const KdTree&gt; KdTreeConstPtr;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        uint8_t</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        trimRGB (<span class="keyword">const</span> <span class="keywordtype">float</span> val) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a30bed89aad20576dd8379400237aba4d">  176</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a30bed89aad20576dd8379400237aba4d">addToMesh</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_0,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                   <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_1,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                   <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_2,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                   <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_3,</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                   VertexIndex&amp;    vi_0,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                   VertexIndex&amp;    vi_1,</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                   VertexIndex&amp;    vi_2,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                   VertexIndex&amp;    vi_3,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                   <span class="keyword">const</span> MeshPtr&amp;  mesh) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#aa47cf4b0defbba543587d54860b11b1a">  188</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#aa47cf4b0defbba543587d54860b11b1a">addToMesh</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_0,</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                   <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_1,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                   <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_2,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                   VertexIndex&amp;    vi_0,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                   VertexIndex&amp;    vi_1,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                   VertexIndex&amp;    vi_2,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                   <span class="keyword">const</span> MeshPtr&amp;  mesh) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a14eca9fb2bbb123e3446e7756d470530">  198</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a14eca9fb2bbb123e3446e7756d470530">distanceThreshold</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_0,</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_1,</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a4b7b4b2446f1740870e1c9f7eff3f7ea">  204</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a4b7b4b2446f1740870e1c9f7eff3f7ea">distanceThreshold</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_0,</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_1,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_2,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a>&amp; pt_3) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="comment">// Members</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#af4d58409d3cfdb1fb3eaf5a009f173cb">  214</a></span>&#160;        KdTreePtr <a class="code" href="classpcl_1_1ihs_1_1_integration.html#af4d58409d3cfdb1fb3eaf5a009f173cb">kd_tree_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a62f3d0cb92f5505b187fd1bf151f2ca3">  217</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a62f3d0cb92f5505b187fd1bf151f2ca3">max_squared_distance_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a418760b0356848b20cdbed13cd58476e">  220</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a418760b0356848b20cdbed13cd58476e">max_angle_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#ac215225ef007748c0eb6ad570039275f">  223</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html#ac215225ef007748c0eb6ad570039275f">min_weight_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a07aca4cfd365b39c06c8df6484e713ad">  226</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a07aca4cfd365b39c06c8df6484e713ad">max_age_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_integration.html#a6ee117986252530cd2aec203f9d2b618">  229</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html#a6ee117986252530cd2aec203f9d2b618">min_directions_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    };</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  } <span class="comment">// End namespace ihs</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H</span></div>
<div class="ttc" id="aclass_mesh_html"><div class="ttname"><a href="class_mesh.html">Mesh</a></div><div class="ttdef"><b>Definition:</b> surface.h:15</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html">pcl::ihs::Integration</a></div><div class="ttdoc">Integrate several clouds into a common mesh.</div><div class="ttdef"><b>Definition:</b> integration.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a03e1bde7dade017346b65819f2f0d655"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a03e1bde7dade017346b65819f2f0d655">pcl::ihs::Integration::merge</a></div><div class="ttdeci">bool merge(const CloudXYZRGBNormalConstPtr &amp;cloud_data, MeshPtr &amp;mesh_model, const Eigen::Matrix4f &amp;T) const</div><div class="ttdoc">Merge the organized cloud into the mesh.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a07aca4cfd365b39c06c8df6484e713ad"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a07aca4cfd365b39c06c8df6484e713ad">pcl::ihs::Integration::max_age_</a></div><div class="ttdeci">unsigned int max_age_</div><div class="ttdoc">Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.</div><div class="ttdef"><b>Definition:</b> integration.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a111b3699e32996990dd7432bad8114f4"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a111b3699e32996990dd7432bad8114f4">pcl::ihs::Integration::setMaxAge</a></div><div class="ttdeci">void setMaxAge(const unsigned int age)</div><div class="ttdoc">Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a14eca9fb2bbb123e3446e7756d470530"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a14eca9fb2bbb123e3446e7756d470530">pcl::ihs::Integration::distanceThreshold</a></div><div class="ttdeci">bool distanceThreshold(const PointIHS &amp;pt_0, const PointIHS &amp;pt_1, const PointIHS &amp;pt_2) const</div><div class="ttdoc">Returns true if the distance between the three points is below a threshold.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a30bed89aad20576dd8379400237aba4d"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a30bed89aad20576dd8379400237aba4d">pcl::ihs::Integration::addToMesh</a></div><div class="ttdeci">void addToMesh(const PointIHS &amp;pt_0, const PointIHS &amp;pt_1, const PointIHS &amp;pt_2, const PointIHS &amp;pt_3, VertexIndex &amp;vi_0, VertexIndex &amp;vi_1, VertexIndex &amp;vi_2, VertexIndex &amp;vi_3, const MeshPtr &amp;mesh) const</div><div class="ttdoc">Adds two triangles between points 0-1-3 and 1-2-3 to the mesh.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a3e40f576819e8e7e5acce7d7f79bc4f4"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a3e40f576819e8e7e5acce7d7f79bc4f4">pcl::ihs::Integration::setMinDirections</a></div><div class="ttdeci">void setMinDirections(const unsigned int directions)</div><div class="ttdoc">A point is removed if it has not been observed from a minimum number of directions.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a418760b0356848b20cdbed13cd58476e"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a418760b0356848b20cdbed13cd58476e">pcl::ihs::Integration::max_angle_</a></div><div class="ttdeci">float max_angle_</div><div class="ttdoc">Maximum angle between normals below which points are averaged out. In degrees.</div><div class="ttdef"><b>Definition:</b> integration.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a439391e4bb77a5c928c821d1c7e2ff01"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a439391e4bb77a5c928c821d1c7e2ff01">pcl::ihs::Integration::Integration</a></div><div class="ttdeci">Integration()</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a4b7b4b2446f1740870e1c9f7eff3f7ea"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a4b7b4b2446f1740870e1c9f7eff3f7ea">pcl::ihs::Integration::distanceThreshold</a></div><div class="ttdeci">bool distanceThreshold(const PointIHS &amp;pt_0, const PointIHS &amp;pt_1, const PointIHS &amp;pt_2, const PointIHS &amp;pt_3) const</div><div class="ttdoc">Returns true if the distance between the four points is below a threshold.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a5f4f4d1de97835965eb7324f434c1918"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a5f4f4d1de97835965eb7324f434c1918">pcl::ihs::Integration::reconstructMesh</a></div><div class="ttdeci">bool reconstructMesh(const CloudXYZRGBNormalConstPtr &amp;cloud_data, MeshPtr &amp;mesh_model) const</div><div class="ttdoc">Reconstructs a mesh from an organized cloud.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a62f3d0cb92f5505b187fd1bf151f2ca3"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a62f3d0cb92f5505b187fd1bf151f2ca3">pcl::ihs::Integration::max_squared_distance_</a></div><div class="ttdeci">float max_squared_distance_</div><div class="ttdoc">Maximum squared distance below which points are averaged out.</div><div class="ttdef"><b>Definition:</b> integration.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a6ee117986252530cd2aec203f9d2b618"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a6ee117986252530cd2aec203f9d2b618">pcl::ihs::Integration::min_directions_</a></div><div class="ttdeci">unsigned int min_directions_</div><div class="ttdoc">A point is removed if it has not been observed from a minimum number of directions.</div><div class="ttdef"><b>Definition:</b> integration.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a903a86c6c32d75d1f17d01dc64f16827"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">pcl::ihs::Integration::age</a></div><div class="ttdeci">void age(const MeshPtr &amp;mesh, const bool cleanup=true) const</div><div class="ttdoc">Outlier rejection. In each merge step points that have not been observed again age by one iteration....</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_a920980a6b0f773bccbccb1b57bec7128"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#a920980a6b0f773bccbccb1b57bec7128">pcl::ihs::Integration::removeUnfitVertices</a></div><div class="ttdeci">void removeUnfitVertices(const MeshPtr &amp;mesh, const bool cleanup=true) const</div><div class="ttdoc">Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed ...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_aa47cf4b0defbba543587d54860b11b1a"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#aa47cf4b0defbba543587d54860b11b1a">pcl::ihs::Integration::addToMesh</a></div><div class="ttdeci">void addToMesh(const PointIHS &amp;pt_0, const PointIHS &amp;pt_1, const PointIHS &amp;pt_2, VertexIndex &amp;vi_0, VertexIndex &amp;vi_1, VertexIndex &amp;vi_2, const MeshPtr &amp;mesh) const</div><div class="ttdoc">Adds a triangle between the points 0-1-2 to the mesh.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_ac215225ef007748c0eb6ad570039275f"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#ac215225ef007748c0eb6ad570039275f">pcl::ihs::Integration::min_weight_</a></div><div class="ttdeci">float min_weight_</div><div class="ttdoc">Minimum weight above which points are added.</div><div class="ttdef"><b>Definition:</b> integration.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_ac6a09955b826cff1529bcfdfa6476c4d"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#ac6a09955b826cff1529bcfdfa6476c4d">pcl::ihs::Integration::setMaxAngle</a></div><div class="ttdeci">void setMaxAngle(const float angle)</div><div class="ttdoc">Corresponding points are only averaged out if the angle between the normals is smaller than an angle ...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_acd8029214ba3ee4408335d0add1e522a"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#acd8029214ba3ee4408335d0add1e522a">pcl::ihs::Integration::setMaxSquaredDistance</a></div><div class="ttdeci">void setMaxSquaredDistance(const float squared_distance)</div><div class="ttdoc">Corresponding points are averaged out if their distance is below a distance threshold....</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html_af4d58409d3cfdb1fb3eaf5a009f173cb"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html#af4d58409d3cfdb1fb3eaf5a009f173cb">pcl::ihs::Integration::kd_tree_</a></div><div class="ttdeci">KdTreePtr kd_tree_</div><div class="ttdoc">Nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> integration.h:214</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_normal_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:926</div></div>
<div class="ttc" id="astructpcl_1_1ihs_1_1_point_i_h_s_html"><div class="ttname"><a href="structpcl_1_1ihs_1_1_point_i_h_s.html">pcl::ihs::PointIHS</a></div><div class="ttdef"><b>Definition:</b> common_types.hpp:63</div></div>
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